EP4020428A4 - Method and apparatus for recognizing lane, and computing device - Google Patents
Method and apparatus for recognizing lane, and computing device Download PDFInfo
- Publication number
- EP4020428A4 EP4020428A4 EP20856841.0A EP20856841A EP4020428A4 EP 4020428 A4 EP4020428 A4 EP 4020428A4 EP 20856841 A EP20856841 A EP 20856841A EP 4020428 A4 EP4020428 A4 EP 4020428A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- computing device
- recognizing lane
- lane
- recognizing
- computing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30236—Traffic on road, railway or crossing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30241—Trajectory
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910804345 | 2019-08-28 | ||
CN201911315389.8A CN112447060A (en) | 2019-08-28 | 2019-12-18 | Method and device for recognizing lane and computing equipment |
PCT/CN2020/081136 WO2021036243A1 (en) | 2019-08-28 | 2020-03-25 | Method and apparatus for recognizing lane, and computing device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP4020428A1 EP4020428A1 (en) | 2022-06-29 |
EP4020428A4 true EP4020428A4 (en) | 2022-10-12 |
Family
ID=74683510
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20856841.0A Pending EP4020428A4 (en) | 2019-08-28 | 2020-03-25 | Method and apparatus for recognizing lane, and computing device |
Country Status (3)
Country | Link |
---|---|
US (1) | US20220237919A1 (en) |
EP (1) | EP4020428A4 (en) |
WO (1) | WO2021036243A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113469075A (en) * | 2021-07-07 | 2021-10-01 | 上海商汤智能科技有限公司 | Method, device and equipment for determining traffic flow index and storage medium |
US11776276B1 (en) | 2022-11-14 | 2023-10-03 | Hayden Al Technologies, Inc. | System and methods for automatically validating evidence of traffic violations using automatically detected context features |
CN116182862A (en) * | 2022-12-30 | 2023-05-30 | 广州小鹏自动驾驶科技有限公司 | Road boundary determination method, device, electronic equipment and storage medium |
CN118015567B (en) * | 2024-04-07 | 2024-06-11 | 东南大学 | Lane dividing method and related device suitable for highway roadside monitoring |
Citations (1)
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US20140195138A1 (en) * | 2010-11-15 | 2014-07-10 | Image Sensing Systems, Inc. | Roadway sensing systems |
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US6466862B1 (en) * | 1999-04-19 | 2002-10-15 | Bruce DeKock | System for providing traffic information |
CN101042802A (en) * | 2006-03-23 | 2007-09-26 | 安捷伦科技有限公司 | Traffic information sensor and method and system for traffic information detecting |
WO2009076182A1 (en) * | 2007-12-13 | 2009-06-18 | Clemson University | Vision based real time traffic monitoring |
CN102201165A (en) * | 2010-03-25 | 2011-09-28 | 北京汉王智通科技有限公司 | Monitoring system of vehicle traffic violation at crossing and method thereof |
US10018703B2 (en) * | 2012-09-13 | 2018-07-10 | Conduent Business Services, Llc | Method for stop sign law enforcement using motion vectors in video streams |
US9026300B2 (en) * | 2012-11-06 | 2015-05-05 | Google Inc. | Methods and systems to aid autonomous vehicles driving through a lane merge |
CN103366571B (en) * | 2013-07-03 | 2016-02-24 | 河南中原高速公路股份有限公司 | The traffic incidents detection method at night of intelligence |
EP2826687B1 (en) * | 2013-07-16 | 2019-03-06 | Honda Research Institute Europe GmbH | Technique for lane assignment in a vehicle |
EP2942765B1 (en) * | 2014-05-07 | 2018-12-26 | Honda Research Institute Europe GmbH | Method and system for predictive lane change assistance, program software product and vehicle |
CN105260699B (en) * | 2015-09-10 | 2018-06-26 | 百度在线网络技术(北京)有限公司 | A kind of processing method and processing device of lane line data |
CA2927925C (en) * | 2016-02-19 | 2019-04-23 | James A. Soltesz | System and method for providing traffic congestion relief using dynamic lighted road lane markings |
US10670416B2 (en) * | 2016-12-30 | 2020-06-02 | DeepMap Inc. | Traffic sign feature creation for high definition maps used for navigating autonomous vehicles |
JP6613527B2 (en) * | 2017-09-05 | 2019-12-04 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
CN110248861B (en) * | 2018-01-07 | 2023-05-30 | 辉达公司 | Guiding a vehicle using a machine learning model during vehicle maneuvers |
EP3740737A1 (en) * | 2018-04-03 | 2020-11-25 | Mobileye Vision Technologies Ltd. | Systems and methods for determining navigational parameters |
CN108615358A (en) * | 2018-05-02 | 2018-10-02 | 安徽大学 | A kind of congestion in road detection method and device |
US11068713B1 (en) * | 2018-07-23 | 2021-07-20 | University Of South Florida | Video-based intelligent road traffic universal analysis |
CN109284674B (en) * | 2018-08-09 | 2020-12-08 | 浙江大华技术股份有限公司 | Method and device for determining lane line |
JP7087896B2 (en) * | 2018-10-01 | 2022-06-21 | 株式会社Soken | Driving lane estimation device, driving lane estimation method, and control program |
EP3657460A1 (en) * | 2018-11-23 | 2020-05-27 | Bayerische Motoren Werke Aktiengesellschaft | Method, computer program product, and driver assistance system for determining one or more lanes of a road in an environment of a vehicle |
CN113348338A (en) * | 2018-11-26 | 2021-09-03 | 御眼视觉技术有限公司 | Lane mapping and navigation |
EP3680876A1 (en) * | 2019-01-08 | 2020-07-15 | Visteon Global Technologies, Inc. | Method for planning trajectory of vehicle |
EP3977054A1 (en) * | 2019-05-28 | 2022-04-06 | Mobileye Vision Technologies Ltd. | Systems and methods for vehicle navigation |
WO2021046829A1 (en) * | 2019-09-12 | 2021-03-18 | 华为技术有限公司 | Positioning method, device and system |
US10928830B1 (en) * | 2019-11-23 | 2021-02-23 | Ha Q Tran | Smart vehicle |
CN113022573B (en) * | 2019-12-06 | 2022-11-04 | 华为技术有限公司 | Road structure detection method and device |
US11203344B2 (en) * | 2020-05-05 | 2021-12-21 | Robert Bosch Gmbh | Courteous trajectory planning for automated vehicles |
JP7314878B2 (en) * | 2020-08-11 | 2023-07-26 | トヨタ自動車株式会社 | CALIBRATION SYSTEM, CALIBRATION METHOD AND CALIBRATION PROGRAM |
US11003919B1 (en) * | 2020-10-16 | 2021-05-11 | Hayden Al Technologies, Inc. | Systems and methods for detecting traffic violations using mobile detection devices |
US11164014B1 (en) * | 2020-11-09 | 2021-11-02 | Hayden Ai Technologies, Inc. | Lane violation detection using convolutional neural networks |
JP7405283B2 (en) * | 2021-01-12 | 2023-12-26 | 株式会社デンソー | Map generation device and map generation program |
KR102652486B1 (en) * | 2021-09-24 | 2024-03-29 | (주)오토노머스에이투지 | Method for predicting traffic light information by using lidar and server using the same |
KR20230129805A (en) * | 2022-03-02 | 2023-09-11 | 주식회사 에이치엘클레무브 | Driver assistance system and driver assistance method |
US20230298361A1 (en) * | 2022-03-16 | 2023-09-21 | Nvidia Corporation | Image to world space transformation for ground-truth generation in autonomous systems and applications |
-
2020
- 2020-03-25 EP EP20856841.0A patent/EP4020428A4/en active Pending
- 2020-03-25 WO PCT/CN2020/081136 patent/WO2021036243A1/en unknown
-
2022
- 2022-02-25 US US17/680,939 patent/US20220237919A1/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20140195138A1 (en) * | 2010-11-15 | 2014-07-10 | Image Sensing Systems, Inc. | Roadway sensing systems |
Non-Patent Citations (3)
Title |
---|
ANONYMOUS: "Tracking", WIKIPEDIA, 20 July 2019 (2019-07-20), pages 1 - 2, XP055957857, Retrieved from the Internet <URL:https://en.wikipedia.org/w/index.php?title=Tracking&oldid=907054667> [retrieved on 20220905] * |
MORRIS BRENDAN TRAN ET AL: "Learning, Modeling, and Classification of Vehicle Track Patterns from Live Video", IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, vol. 9, no. 3, 3 June 2008 (2008-06-03), pages 425 - 437, XP055957767, Retrieved from the Internet <URL:https://ieeexplore.ieee.org/document/4534830> [retrieved on 20220905], DOI: 10.1109/TITS.2008.922970 * |
See also references of WO2021036243A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2021036243A1 (en) | 2021-03-04 |
US20220237919A1 (en) | 2022-07-28 |
EP4020428A1 (en) | 2022-06-29 |
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Legal Events
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
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17P | Request for examination filed |
Effective date: 20220322 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
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A4 | Supplementary search report drawn up and despatched |
Effective date: 20220914 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: G06V 20/54 20220101ALI20220908BHEP Ipc: G08G 1/056 20060101ALI20220908BHEP Ipc: G08G 1/04 20060101ALI20220908BHEP Ipc: G08G 1/00 20060101ALI20220908BHEP Ipc: G01C 21/00 20060101ALI20220908BHEP Ipc: G08G 1/01 20060101ALI20220908BHEP Ipc: G08G 1/14 20060101AFI20220908BHEP |
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DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) |